JP2018187709A - Brace assist device - Google Patents

Abstract

An arm and waist assist device that can be reduced in size, weight, and cost is obtained. An arm and waist assist device 10 includes an upper body frame 18 attached to a user's back, a thigh arm 16 attached to a user's lower limb, and an arm support arm 20 attached to the user's upper limb. And. Further, the arm / hip assisting device 10 urges the upper body frame 18 against the thigh arm 16 to provide a support force in a direction in which the upper body of the user is raised, and to move the arm support arm 20 to the upper body. The artificial muscle 22 which provides the support force to the direction which raises a user's upper limb by urging | biasing with respect to the flame | frame 18 is provided. [Selection] Figure 1

Description

  The present invention relates to a bracelet assist device.

  Patent Literature 1 and Patent Literature 2 listed below disclose an arm and waist assist device that assists the user's lower back and upper limbs by being attached to the user's body.

  In the arm and waist assist device (upper arm holding device and upper arm assist device) described in Patent Literature 1, the first actuator is operated to support the raising and holding of the user's upper arm, and the second actuator is operated. Thus, the user's waist is supported.

  In the arm and waist assist device (upper arm holding device and upper arm assist device) described in Patent Document 2, the user's upper limbs are supported by operating a plurality of drive motors corresponding to each indirectly of the human body. The user's waist is supported.

JP 2009-273711 A Japanese Unexamined Patent Publication No. 2016-2123

  However, in the brace and hip assist device described in Patent Document 1 and Patent Document 2, an actuator that generates a support force for supporting the user's upper limb and a support force for supporting the user's waist are generated. Actuators are provided independently of each other. Therefore, there is room for improvement from the viewpoint of increasing the number of components and reducing the size, weight, and cost of the brace assist device.

  In view of the above facts, an object of the present invention is to obtain an arm and waist assist device that can be reduced in size, weight, and cost.

  The bracelet assist device according to claim 1 is a back mounting unit mounted on a user's back, a lower limb mounting unit mounted on a lower limb of the user, and an upper limb mounting unit mounted on an upper limb of the user. And urging the back mounting portion against the lower limb mounting portion to provide a support force in a direction that causes the upper body of the user, and the upper limb mounting portion with respect to the back mounting portion. A supporting force applying unit that applies a supporting force in a direction of pulling up the upper limb of the user by energizing.

  According to the brace support apparatus according to claim 1, the back mounting portion is mounted on the user's back, the lower limb mounting portion is mounted on the user's lower limb, and the upper limb mounting portion is mounted on the user's upper limb. Then, the brace assist device is attached to the user's body. The support force application unit urges the back mounting unit against the lower limb mounting unit and urges the upper limb mounting unit against the back mounting unit, thereby supporting the user in the direction of causing the upper body of the user. And a support force in the direction of raising the user's upper limb. Here, in the first aspect of the present invention, the support force application unit generates both a support force in a direction in which the upper body of the user is raised and a support force in a direction in which the upper limb of the user is pulled up. As a result, compared to the case where the actuators that generate both the support force in the direction of causing the user's upper body and the support force in the direction of raising the user's upper limb are provided independently, The auxiliary device can be reduced in size, weight, and cost.

  The bracelet assist device according to claim 2 is the bracelet assist device according to claim 1, wherein the support force applying unit is an artificial muscle that contracts when gas is supplied, and the artificial muscle contracts. As a result, a support force in a direction for causing the upper body of the user and a support force in a direction for lifting the upper limb of the user are provided.

  According to the brace and hip assist device according to claim 2, since the support force applying portion that generates the support force is an artificial muscle, an increase in the weight of the support force applying portion is suppressed, and a greater support force is provided. Can be obtained.

  The bracelet assist device according to claim 3 is the bracelet assist device according to claim 1, wherein the support force applying portion is a spring, and the spring is deformed in accordance with the posture change of the user. Thus, a support force in a direction for causing the upper body of the user and a support force in a direction for lifting the upper limb of the user are provided.

  According to the third aspect, the support force applying portion for generating the support force is a spring. The spring is deformed to generate a support force. In this configuration, it is possible to generate the support force without supplying electrical or mechanical energy from the outside.

  The bracelet assist device according to claim 4 is the bracelet assist device according to any one of claims 1 to 3, wherein the upper limb mounting portion has left and right sides of the user with respect to the back mounting portion. It was possible to tilt in the direction.

  According to the bracelet assist device of the fourth aspect, the upper limb mounting portion can be tilted in the left-right direction of the user with respect to the back mounting portion. Thereby, when a user lifts a load | work etc., it can respond | correspond to the load of various dimensions.

  The bracelet assist device according to claim 5 is the bracelet assist device according to any one of claims 1 to 4, wherein the upper limb attachment portion is a wrist attachment portion attached to the wrist of the user. The support force in the direction which pulls up the user's upper limb from the wrist attachment part to the user's wrist is given.

  According to the brace and hip assist device of the fifth aspect, the wrist to which a load is applied when the user lifts the load or holds the load in the lifted state can be effectively supported by the wrist mounting portion.

  The bracelet assist device according to claim 6 is the brace support device according to any one of claims 1 to 5, wherein the upper limb mounting portion is connected to the back mounting portion via an upper limb mounting portion side pulley. The lower limb mounting portion is supported to be tiltable by the back mounting portion via a lower limb mounting portion side pulley, and the outer diameter of the upper limb mounting portion side pulley and the lower limb mounting portion are supported by the lower mounting portion side pulley. The outer diameter of the side pulley is different, and the wires connected to the support force applying portion are respectively locked to the upper limb mounting portion side pulley and the lower limb mounting portion side pulley.

  According to the brace and hip assist device according to claim 6, the wires connected to the support force applying portion are respectively locked to the upper limb mounting portion side pulley and the lower limb mounting portion side pulley having different outer diameters, thereby The displacement amount of the upper body mounting portion relative to the mounting portion can be made different from the displacement amount of the upper limb mounting portion relative to the upper body mounting portion. That is, in the invention according to claim 6, the ratio of the displacement amount of the upper body mounting portion with respect to the lower limb mounting portion and the displacement amount of the upper limb mounting portion with respect to the upper body mounting portion is more optimal in accordance with the work form of the user. Can be.

  The bracelet assist device according to claim 7, wherein a back mounting portion to be mounted on a user's back, a lower limb mounting portion to be mounted on the user's lower limb, and an upper limb mounting portion to be mounted on the upper limb of the user. And urging the back mounting portion against the lower limb mounting portion to provide a support force in a direction that causes the upper body of the user, and the upper limb mounting portion with respect to the back mounting portion. A support force applying unit that applies a support force in a direction of pulling up the upper limb of the user by urging, and a support that acts in a direction of pulling up the user's upper limb according to the operation of the user The distribution ratio of the force and the support force acting in the direction causing the upper body of the user is changed.

  According to the brace and hip assist device according to claim 7, the support force acting in the direction of pulling up the upper limb of the user and the direction of causing the upper body according to the movement of the user, that is, according to the change in the posture of the user. You can change the distribution ratio with the support force acting on.

  The bracelet assist device according to the present invention has an excellent effect that it can be reduced in size, weight, and cost.

It is a perspective view which shows the bracelet assistance apparatus which concerns on 1st Embodiment. It is a side view which shows the bracelet assistance apparatus which concerns on 1st Embodiment. It is a front view which shows the bracelet assistance apparatus which concerns on 1st Embodiment. It is a top view which shows the bracelet assistance apparatus which concerns on 1st Embodiment. It is a side view which shows a supporter. It is a schematic diagram which shows an artificial muscle typically. FIG. 6 is a schematic diagram corresponding to FIG. 5 schematically showing a state in which air is supplied to the artificial muscle shown in FIG. 6. It is a schematic diagram which shows typically the artificial muscle arrange | positioned in the artificial muscle storage part. It is a side view which shows typically the principal part of the bracelet assistance apparatus before air is supplied. It is a side view which shows typically the principal part of the bracelet auxiliary device of the state in which air was supplied. It is a perspective view corresponding to FIG. 1 for demonstrating each tilt axis of a bracelet auxiliary device. It is explanatory drawing for demonstrating the evaluation method of a muscle usage. (A) is a side view showing a state where the user wearing the bracelet assist device starts to lift the load from a posture in which the user does not sit down, and (B) is a case where the user wearing the bracelet assist device (A (C) is a side view showing a state in which the baggage has been lifted from the posture shown in FIG. FIG. (A) is a side view showing a state where a user wearing the bracelet assist device starts to lift a load from a posture where the user sits down, and (B) is a case where the user wearing the bracelet assist device (A (C) is a side view showing a state in which the baggage has been lifted from the posture shown in FIG. FIG. It is explanatory drawing for demonstrating the location which measured the myoelectricity in a user's body. It is a graph which shows the muscle usage of each test subject from the state shown in FIG. 13 (A) to the state shown in (B). It is a graph which shows the muscle usage of each test subject at the time of holding a load in the state shown in FIG. It is a graph which shows the muscle usage-amount of each test subject from the state shown by FIG. 14 (A) to the state shown by (B). It is a graph which shows the muscle usage of each test subject at the time of holding the load in the state shown in FIG. It is a side view which shows the state with which the user mounted | worn the bracelet assistance apparatus which concerns on 2nd Embodiment. It is explanatory drawing for demonstrating an air spring. It is a side view which shows the state which the user with which the bracelet assistance apparatus which concerns on 2nd Embodiment was mounted | worn down. It is a side view which shows typically the principal part of the bracelet assistance apparatus which concerns on 2nd Embodiment. It is a side view which shows the state with which the user mounted | worn the bracelet assistance apparatus which concerns on 2nd Embodiment. It is a side view which shows the state which the user with which the bracelet assistance apparatus which concerns on 2nd Embodiment was mounted | worn grabbed with the attitude | position which does not sit down. It is a side view which shows the state which the user who mounted | worn with the bracelet assistance apparatus which concerns on 2nd Embodiment, and grabbed the load sat down. FIG. 27 is a side view showing a state where a user who wears the bracelet assist device according to the second embodiment and grasps a load raises his / her waist from the state shown in FIG. 26. (A) is a side view schematically showing the main part of the bracelet assist device in the state shown in FIG. 25, and (B) is a schematic diagram of the main part of the bracelet assist device in the state shown in FIG. FIG. 28C is a side view schematically showing the main part of the bracelet assist device in the state shown in FIG. 27. It is a perspective view which shows the bracelet assistance apparatus which concerns on 3rd Embodiment. It is a side view which shows the bracelet assistance apparatus which concerns on 3rd Embodiment. It is a front view which shows the bracelet assistance apparatus which concerns on 3rd Embodiment. It is a top view which shows the bracelet assistance apparatus which concerns on 3rd Embodiment.

  The bracelet assist device according to the first embodiment of the present invention will be described with reference to FIGS. Note that the front side in the front-rear direction viewed from the upright user wearing the bracelet assist device is indicated by arrow FR, the right side and the left side are indicated by arrow RH and arrow LH, and the upper side in the vertical direction is shown. Indicated by arrow UP. Also, in the following description, when simply indicating the front / rear, left / right, up / down directions, the front / rear, left / right, up / down as seen from the upright user wearing the bracelet assist device. To do.

  As shown in FIG. 1 to FIG. 4, the brace assist device 10 is attached to the base portion 12 and a pair of left and right base portions 12 disposed on the side of the user's waist, and is also installed by the user. And a waist belt 14 to be attached to the waist. The bracelet assisting device 10 includes a pair of left and right thigh arms 16 as a lower limb mounting portion that is disposed along the thigh of the user and is attached to the base portion 12 so as to be tiltable. Further, the bracelet assisting device 10 includes a body frame 18 that is disposed along the upper body (back part) of the user and that is tiltably attached to the base part 12 and constitutes a part of the back mounting part. . The bracelet assisting device 10 includes an arm support arm 20 as an upper limb mounting portion that is disposed along the upper limb of the user and is attached to the upper end portion of the upper body frame 18 so as to be tiltable. Furthermore, the bracelet assisting device 10 includes an artificial muscle 22 (see FIG. 6) as a support force applying unit disposed in the upper body frame 18.

  The base portion 12 includes an outer plate 24 and an inner plate 26 that are formed in a plate shape. The outer plate 24 and the inner plate 26 are formed in substantially the same shape in a side view (viewed from the right side or the left side). The outer plate 24 and the inner plate 26 are connected via a plurality of connection pins and the like. Thus, the outer plate 24 and the inner plate 26 are arranged in parallel to each other with a predetermined interval in the left-right direction.

  A first pulley 28 and a second pulley 30 are rotatably provided between the outer plate 24 and the inner plate 26. The first pulley 28 as a lower limb mounting portion side pulley is attached to the lower side of the outer plate 24 and the inner plate 26 with the left-right direction as the rotation axis direction. The rotation axis of the first pulley 28 corresponds to the hip joint of the user. The first pulley 28 is attached with a thigh arm 16 to be described later. Here, the first pulley 28 is rotated to one side (rotated counterclockwise as viewed from the left side), and the first pulley 28 is fixed to the outer plate 24, the inner plate 26, and the like. , The rotation of the first pulley 28 to one side is restricted. As a result, the tilting of the thigh arm 16 attached to the first pulley 28 is restricted to the rear side.

  The second pulley 30 is attached to the upper side of the outer plate 24 and the inner plate 26 and the rear side of the first pulley 28 with the left-right direction as the rotation axis direction. The rotation axis of the second pulley 30 corresponds to the user's sacroiliac joint. Further, a body frame 18 described later is attached to the second pulley 30.

  The waist belt 14 is formed in an annular shape when viewed from above the user, and the waist belt 14 is attached to the waist of the user. The waist belt 14 is provided with a length adjusting mechanism (not shown) for adjusting the circumference of the waist belt 14.

  The thigh arm 16 is configured to include an arm main body 32 extending along the thigh of the user and a thigh pad 34 attached to the arm main body 32. The arm body 32 is formed by bending a plate-like member. The arm body 32 is attached to the first pulley 28 via a hinge 36 so that the thigh arm 16 is attached to the base portion 12 so as to be tiltable in the front-rear direction. In the present embodiment, since the hinge 36 is configured to be rotatable in the left-right direction, the thigh arm 16 can be tilted in the left-right direction with respect to the base portion 12.

  The thigh pad 34 has a curved shape along the front side surface of the user's thigh, and the thigh pad 34 is attached to the lower end of the arm body 32. Further, the thigh pad 34 is rotatable with respect to the arm body 32 by a predetermined angle with the left-right direction as the axial direction. Thereby, the contact state of the thigh pad 34 and the front side surface of the user's thigh can be maintained in a desired contact state.

  The upper body frame 18 is formed in a substantially ladder shape when viewed from the front (viewed from the front side of the user). The upper body frame 18 has a pair of left and right artificial muscle attachment portions 38 which are arranged at intervals in the left-right direction and in which the artificial muscle 22 (see FIG. 6) is arranged, and a pair of left and right artificial muscle attachment portions. The upper connection part 40 which connects the upper part of 38 in the left-right direction, and the lower connection part 42 which connects the lower part of the pair of left and right artificial muscle attachment parts 38 in the left-right direction are configured. . A body mounting belt mounting portion 38A to which a body mounting belt 44 to be mounted on the user's body is mounted at the lower end of the pair of left and right artificial muscle mounting portions 38 and the central portion in the left and right direction of the upper connection portion 40; 40A is provided. The upper body mounting belt 44 constituting the other part of the back mounting portion includes a right side mounting belt 44R that is mounted on the right shoulder of the user and a left side mounting belt 44L that is mounted on the left shoulder of the user. The lengths of the right side mounting belt 44R and the left side mounting belt 44L are adjustable.

  Further, the lower ends of the pair of artificial muscle attachment portions 38 are fixed to the second pulley 30. Thereby, the upper body frame 18 can tilt in the front-rear direction with respect to the base portion 12. Further, a pair of pulley support plates 46 arranged in parallel to each other are fixed to the upper ends of the pair of artificial muscle attachment portions 38. Between the pair of pulley support plates 46, a third pulley 48 is provided as an upper limb mounting portion side pulley to which an arm support arm 20 described later is attached. The third pulley 48 is rotatably supported by the pair of pulley support plates 46.

  Further, a back pad 50 is bridged between the vertical intermediate portions of the pair of artificial muscle attachment portions 38.

  The arm support arm 20 includes a first arm portion 52, a second arm portion 54, and a tip arm portion 56.

  The first arm portion 52 is formed in a prismatic shape, and one end portion of the first arm portion 52 is supported by the third pulley 48. Thereby, the arm support arm 20 is supported by the upper end part of the artificial muscle attachment part 38 of the upper body frame 18 so that tilting is possible. The first arm portion 52 and the third pulley 48 are pin-joined. As a result, the first arm portion 52 can tilt in the left-right direction with respect to the third pulley 48.

  The second arm portion 54 is formed of two prismatic members having dimensions smaller than those of the first arm portion 52. One end portion of the second arm portion 54 is joined to the other end portion of the first arm portion 52. Moreover, the 2nd arm part 54 and the 1st arm part 52 are made into pin joining. As a result, the second arm portion 54 can tilt in the left-right direction with respect to the first arm portion 52.

  The distal end arm portion 56 is formed by bending a round bar-like material into an L shape. One end portion of the tip arm portion 56 is fixed to the other end portion of the second arm portion 54. Further, a supporter 58 as a wrist mounting portion into which a user's hand is fitted is attached to the other end portion of the tip arm portion 56 via a supporter locking wire 60.

  As shown in FIG. 5, the supporter 58 is formed using a stretchable material, and the supporter 58 is formed in a cylindrical shape covering the palm and the back of the hand from the user's wrist. The supporter 58 is formed with a thumb insertion hole 58A through which the thumb of the hand is inserted. Further, a portion from the index finger to the little finger of the hand protrudes from the front end side of the supporter 58.

  As shown in FIGS. 6 and 7, the artificial muscle 22 is a so-called McKibben type artificial muscle. The artificial muscle 22 includes an elastic tube 62 formed into a tubular shape using an elastic material such as rubber, and a cylindrical mesh sleeve 64 that covers the elastic tube 62. The elastic tube 62 is meshed. The structure is covered with a sleeve 64 and crimped at both ends.

  The elastic tube 62 has a space in which gas (air) is supplied. The elastic tube 62 is supplied with air through a tank (not shown) in which compressed air is stored and a connection pipe. It has become so.

  The mesh sleeve 64 is formed, for example, by weaving a wire such as a high-tensile fiber having a low stretchability. Then, when air is supplied into the elastic tube 62 disposed in the mesh sleeve 64 and the elastic tube 62 expands, the dimension in the direction perpendicular to the length direction of the mesh sleeve 64 is shown in FIG. And the dimension of the mesh sleeve 64 in the length direction decreases. As a result, the length of the artificial muscle 22 is shortened (the artificial muscle 22 contracts), and a force for supporting the lower back and arms, which will be described later, is generated. In addition, by supplying gas (compressed air) to the internal elastic tube 62, it is possible to generate a strong contraction force of 2000 N at the maximum in the longitudinal direction of the artificial muscle 22. The weight of the artificial muscle 22 is as light as about 130 g, and the mass output ratio is very large compared to a motor or the like.

  As shown in FIG. 8, in the present embodiment, two artificial muscles 22 as described above are provided inside each of the right artificial muscle attachment portion 38 and the left artificial muscle attachment portion 38. Air is supplied to the elastic tubes 62 of the artificial muscles 22 disposed inside the artificial muscle attachment portions 38 at the same time on the left and right sides.

  Further, as schematically shown in FIG. 9, one end of the two artificial muscles 22 arranged inside the right artificial muscle attachment portion 38 has a wire 66 attached to the third pulley 48 on the right side. The other end of the two artificial muscles 22 is locked to the first pulley 28 on the right side via a wire 66. Note that one end of the two artificial muscles 22 arranged inside the left artificial muscle attachment portion 38 is locked to the left third pulley 48 via a wire 66, and two The other end of the artificial muscle 22 is locked to the left first pulley 28 via a wire 66. In the present embodiment, the outer diameter of the first pulley 28 and the third pulley 48 (the outer diameter of the portion around which the wire 66 is wound) is 50 mm.

  Then, as shown in FIG. 10, the thigh arm 16 is tilted backward (biased in the tilting direction) by the contraction of the artificial muscle 22, and the arm support arm 20 tilts upward. (Biased in the tilting direction).

(Operation and effect of this embodiment)
Next, the operation and effect of this embodiment will be described.

  As shown in FIG. 11, in the above-described brace support device 10 according to the present embodiment, the waist belt 14, the upper body mounting belt 44, and the thigh arm 16 are respectively mounted on the user's waist, upper body, and thigh. At the same time, the supporter 58 is mounted on both hands of the user, so that the brace assist device 10 is mounted on the user's body. In the present embodiment, the back pad 50 is provided so that the back surface of the user does not come into contact with the upper body wearing belt attaching portion 40A and the pair of artificial muscle attaching portions 38. In addition, in order to secure a sufficient shoulder width when the bracelet assist device 10 was worn, the shoulder widths of several people were measured, and the shoulder width of the device was set to 500 mm. Furthermore, the brace assist device 10 of this embodiment can be mounted in about 25 seconds.

  As shown in FIGS. 10 and 11, when gas is supplied to the artificial muscle 22 by the user performing a switch operation or the like, the artificial muscle 22 contracts. As a result, the thigh arm 16 is biased in the direction of tilting backward (biased in the direction of the arrow Y1), and as a reaction, the upper body frame 18 is biased in a direction that causes the user's upper body. (The support force in the direction of arrow Y2 is input to the user's waist). Further, when the artificial muscle 22 contracts, the arm support arm 20 is biased in a direction in which it is tilted upward. Thereby, the support force in the direction of lifting the user's hand (arrow Y3 direction) is input to the user's hand (wrist). As a result, according to the bracelet assist device 10 of the present embodiment, when the user wearing the bracelet assist device 10 lifts the load or holds the load in a lifted state, the user's waist and arms The load applied to the (upper limb) can be reduced.

  By the way, the development of mechanical technology has created transportation equipment and industrial robots, and dangerous and simple labor has been automated, and people are being freed from extreme physical fatigue. However, there are still many hard labors that are difficult to mechanize in a wide range of fields such as manufacturing, transportation, and nursing care. According to a survey by the European Health and Safety Organization (EU-OSHA), millions of workers develop musculoskeletal disorders (MSDs) every year in Europe alone due to heavy physical labor, lifting of luggage, etc. 33% of all workers are required to handle heavy objects, and 17% complain of arm and leg muscle pain. The economic loss due to MSDs is also serious, with France surpassing about 700 million euros in 2006, and the loss due to MSDs in the upper limbs is 2% of GNP. As a solution to these problems, a wearable muscle strength assist device: muscle suit has been developed that physically supports human movements through the exoskeleton. The burden of manual workers is not only on the hips, but also on the upper limbs such as the shoulders and upper arms. Therefore, the use of the bracelet assist device 10 of the present embodiment is effective for the purpose of reducing the burden on the upper limbs and the waist during the lifting operation of the luggage.

  Here, in the present embodiment, the artificial muscle 22 generates both a support force in a direction for causing the user's upper body and a support force in a direction for lifting the user's arm. As a result, compared to the case where the actuators that generate both the support force in the direction that causes the user's upper body and the support force in the direction that raises the user's arm are provided independently, The auxiliary device 10 can be reduced in size, weight, and cost.

  In the present embodiment, since the member that generates the support force is the artificial muscle 22, it is possible to obtain a greater support force while suppressing an increase in the weight of the member that generates the support force.

  Furthermore, in the present embodiment, the arm support arm 20 includes a first arm portion 52 and a second arm portion 54. The first arm portion 52 can tilt in the left-right direction with respect to the third pulley 48, and the second arm portion 54 can tilt in the left-right direction with respect to the first arm portion 52. Thereby, when a user lifts a load | work etc., it can respond | correspond to the load of various dimensions.

  In the present embodiment, the supporter 58 can effectively support the wrist to which a load is applied when the user lifts the load or holds the load in a lifted state.

(Quantitative evaluation of the assist effect by the brace and hip assist device 10)
Next, the result of quantitative evaluation of the auxiliary effect of the bracelet auxiliary device 10 of the present embodiment will be described.

In order to evaluate the assist effect of the brace and hip assist device 10, a surface electromyogram (hereinafter referred to as "EMG") is measured as shown in FIG. For measurement, WEB-7000 manufactured by Nihon Kohden Co., Ltd. was used, and the sampling frequency was 250 Hz, the time constant was 0.1 sec, and the cut-off frequency was a low-pass filter 30 Hz and a high-pass filter 500 Hz. The measured EMG is subjected to rectification and smoothing analysis (Average Rectified Value, hereinafter referred to as “ARV analysis”). The integrated myoelectric value (Integral ElectroMyoGram, hereinafter referred to as “IEMG”) obtained by integrating the myoelectric potential obtained here is evaluated as the muscle usage. IEMG is obtained by the following equations 1 and 2, where τ is the time constant of ARV analysis, (−T, T) is the calculation interval, and time is t.

  The test subjects (users P) are three healthy men in their twenties, as shown in FIGS. 13 (A) and 13 (B) and FIGS. 14 (A) and 14 (B), 10 kg of luggage W placed on the floor. The operation of lifting the bag over 3 seconds is defined as section 1, and as shown in FIGS. 13B and 13C and FIGS. 14B and 14C, the operation of holding the load W over 3 seconds is performed in section 2. And IEMG is compared at the time of wearing at the time of non-wearing of the bracelet auxiliary device 10. At this time, as shown in FIG. 13 (A), the baggage W is lifted by lifting its waist (hereinafter referred to as “lifting method X”), and as shown in FIG. Lifting is performed in two ways Y). For the injection of compressed air into the artificial muscle 22, a valve that directly opens and closes air was used.

  As shown in FIG. 15, the muscles to be measured are ascending spine K1, latissimus dorsi muscle K2, trapezius K3, anterior deltoid muscle K4, biceps K5, cephalad flexor muscle K6, ulnar carpal flexor muscle. 7 locations of K7.

  For the three test subjects, the relative value when worn when IEMG when not worn is set to 1 is shown in FIG. 16, and the lifting method X and section 2 are shown in FIG. Y and section 1 are shown in FIG. 18, and how to lift Y and section 2 are shown in FIG. As shown in these figures, in all the muscles K1 to K7 shown in FIG. 15, it is possible to confirm a decrease in muscle usage when the bracelet assist device 10 is worn compared to when not wearing it. did it.

(Brace support device 68 according to the second embodiment)
Next, an arm and waist assisting device 68 according to a second embodiment of the present invention will be described with reference to FIGS. Note that in the bracelet assist device 68 of the present embodiment, members and parts corresponding to the respective parts of the bracelet assist device 10 according to the first embodiment described above are members and parts corresponding to the respective parts of the bracelet assist device 10. The same reference numerals are used and the description thereof is omitted.

  As shown in FIG. 20, the basic configuration of the bracelet assist device 68 of the present embodiment is the same as the configuration of the bracelet assist device 10 (see FIG. 1) according to the first embodiment. The assistive device 68 is characterized in that, instead of the artificial muscle 22, a support force applying portion and an air spring 70 as a spring are used.

  As shown in FIG. 21, the air spring 70 is configured such that a McKibben type artificial muscle 22 (see FIG. 6) is filled with a predetermined amount of air in advance. Then, the air spring 70 is extended, and the air volume in the air spring 70 is reduced to increase the air pressure (Charles' law). As a result, as shown in FIG. 22, the air spring 70 is extended in accordance with the posture change of the user P, and the air spring 70 generates a support force for the waist and arms of the user P. ing.

  Further, in this embodiment, as shown in FIG. 23, the outer diameters of the first pulley 28 and the third pulley 48 (the outer diameter of the portion around which the wire 66 is wound) are 50 mm and 30 mm, which are different outer diameters, respectively. Has been. As a result, the arm support arm 20 is tilted about 1.67 times the amount of change in the tilt angle of the thigh arm 16.

(Operation and effect of this embodiment)
Next, the operation and effect of this embodiment will be described.

  As shown in FIG. 24, the bracelet assist device 68 of the present embodiment is mounted in the same procedure as the bracelet assist device 10 (see FIG. 1) according to the first embodiment described above. However, the bracelet assisting device 68 of the present embodiment is different in usage from the bracelet assisting device 10 according to the first embodiment described above.

  As shown in FIG. 25, in the arm and waist assist device 68 of the present embodiment, the user P grabs the load W in a forward leaning posture without lowering the waist P2. At this time, when the upper body frame 18 tilts (forward tilts) with respect to the thigh arm 16, the air spring 70 is stretched as shown in FIG.

  Next, as shown in FIG. 26, the contraction force of the air spring 70 is increased by the user P lowering the waist P2 while bending the knee P1. As a result, as shown in FIGS. 26 and 28B, the arm support arm 20 is tilted upward. As a result, when the user P lifts the load W, the waist P2 and the arm P3 of the user P are supported.

  In addition, as shown in FIGS. 27 and 28C, the user P can assist the extension (tilt) of the waist P2 by adjusting the balance (posture) of the positions of the arms P3 and the waist P2. it can. That is, the user P can acquire the distribution ratio (assistant relationship) of the assisting force between the waist P2 and the arm P3 so that the user P can easily move, and each user P has a support force suitable for each operation. Can be obtained. In the present embodiment, a load W of about 20 kg can be easily lifted.

  As described above, according to the arm and waist assisting device 68 of the present embodiment, the air spring 70 has both the support force in the direction that causes the upper body of the user and the support force in the direction that raises the user's arm. Give rise to supportive power. As a result, compared to the case where the actuators that generate both the support force in the direction that causes the user's upper body and the support force in the direction that raises the user's arm are provided independently, The auxiliary device 68 can be reduced in size, weight, and cost.

  In the present embodiment, the example using the air spring 70 has been described. However, a metal coil spring or the like may be used instead of the air spring 70.

  In the present embodiment, the support force can be generated without supplying electrical or mechanical energy from the outside.

  Furthermore, in the present embodiment, the outer diameters of the first pulley 28 and the third pulley 48 (the outer diameter of the portion around which the wire 66 is wound) are set to different outer diameters. Thereby, the tilt angle of the arm support arm 20 with respect to the change amount of the tilt angle of the thigh arm 16 can be optimized. Note that the outer diameters of the first pulley 28 and the third pulley 48 (the outer diameter of the portion around which the wire 66 is wound) may be appropriately set in consideration of the height at which the load W is lifted.

  The bracelet assist device 10 according to the first embodiment described above and the bracelet assist device 68 according to the second embodiment are aimed at miniaturization, weight reduction, and cost reduction. As in the arm and waist assisting device 72 according to the third embodiment shown in FIG. 32, further weight reduction and cost reduction may be achieved. In the lower back assist device 72 according to the third embodiment, the upper connection portion 40 and the lower connection portion 42 of the upper body frame 18 are formed using a plate material made of an aluminum alloy, and the shape of the arm main body 32 of the thigh arm 16 is formed. Is further reduced in weight and cost. In addition, about the member and part corresponding to each part of the bracelet assistance apparatus 10 which concerns on the above-mentioned 1st Embodiment in the bracelet assistance apparatus 72, the same code | symbol as the member and part corresponding to each part of the said bracelet assistance apparatus 10 concerned The description is omitted.

  Although one embodiment of the present invention has been described above, the present invention is not limited to the above, and various modifications other than the above can be implemented without departing from the spirit of the present invention. Of course.

10 Arms and waist support device 16 Thigh arm (lower limb wearing part)
18 Upper body frame (back mounting part)
20 Arm support arm (upper limb wearing part)
22 Artificial muscles (supporting force imparting part)
28 1st pulley (lower leg wearing part side pulley)
44 Upper body wearing belt (back wearing part)
48 3rd pulley (upper limb wearing part side pulley)
58 Supporter (wrist wearing part)
68 Arms and waist support device 70 Air spring (support force applying part, spring)
72 Arm and waist assist device

Claims (7)

A back mounting portion to be mounted on the back of the user;
A lower limb mounting portion to be mounted on the lower limb of the user;
An upper limb mounting portion to be mounted on the upper limb of the user;
By urging the back mounting portion with respect to the lower limb mounting portion, a support force in a direction to cause the upper body of the user is applied, and the upper limb mounting portion is urged with respect to the back mounting portion. A support force application unit that provides support force in the direction of raising the upper limb of the user;
Arm / waist assist device. The support force application unit is an artificial muscle that contracts when gas is supplied,
2. The bracelet assist device according to claim 1, wherein the artificial muscle is contracted to provide a support force in a direction in which the upper body of the user is raised and a support force in a direction of raising the upper limb of the user. The support force applying portion is a spring,
The support force in a direction in which the user's upper body is raised and a support force in a direction in which the user's upper limb is pulled up are provided by deforming the spring in accordance with a change in the posture of the user. The bracelet assist device according to 1.   The bracelet assist device according to any one of claims 1 to 3, wherein the upper limb mounting portion is tiltable in the left-right direction of the user with respect to the back mounting portion. The upper limb mounting portion includes a wrist mounting portion to be mounted on the wrist of the user,
The bracelet assist device according to any one of claims 1 to 4, wherein a support force in a direction in which the upper limb of the user is pulled up is applied from the wrist mounting portion to the wrist of the user. The upper limb mounting part is supported by the back mounting part so as to be tiltable via an upper limb mounting part side pulley,
The lower limb mounting portion is supported by the back mounting portion so as to be tiltable via a lower limb mounting portion side pulley,
The outer diameter of the upper limb wearing part side pulley is different from the outer diameter of the lower limb wearing part side pulley,
The bracelet assist device according to any one of claims 1 to 5, wherein a wire connected to the support force application unit is locked to the upper limb mounting unit side pulley and the lower limb mounting unit side pulley, respectively. . A back mounting portion to be mounted on the back of the user;
A lower limb mounting portion to be mounted on the lower limb of the user;
An upper limb mounting portion to be mounted on the upper limb of the user;
By urging the back mounting portion with respect to the lower limb mounting portion, a support force in a direction to cause the upper body of the user is applied, and the upper limb mounting portion is urged with respect to the back mounting portion. A support force application unit that provides support force in the direction of raising the upper limb of the user;
With
A bracelet assist device that changes a distribution ratio between a support force acting in a direction of pulling up the upper limb of the user and a support force acting in a direction of causing the upper body of the user according to a user's movement.